Journal
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume 10, Issue -, Pages -Publisher
SAGE PUBLICATIONS INC
DOI: 10.5772/56911
Keywords
Quadrotor; PID; Fuzzy; Extended Kalman Filter; Self-Tuning; Smart Selection
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Funding
- University of Ulsan
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This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra's algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries. The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.
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